CN108725213A - The control method and device of energy feedback - Google Patents
The control method and device of energy feedback Download PDFInfo
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- CN108725213A CN108725213A CN201810812456.6A CN201810812456A CN108725213A CN 108725213 A CN108725213 A CN 108725213A CN 201810812456 A CN201810812456 A CN 201810812456A CN 108725213 A CN108725213 A CN 108725213A
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- braking torque
- vehicle speed
- energy feedback
- feedback
- practical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
Abstract
Embodiment of the disclosure discloses a kind of control method and device of energy feedback, is related to automobile technical field, can solve the problems, such as to slow down when the prior art carries out energy feedback under different operating modes jiggly.The method of embodiment of the disclosure includes mainly：After vehicle enters energy feedback pattern, cycle executes following steps, until current vehicle speed is unsatisfactory for exiting the energy feedback pattern when energy feedback pattern：According to current vehicle speed, target vehicle speed is set；It calculates from current vehicle speed braking to the braking torque needed for the target vehicle speed；Practical braking torque is determined based on calculated braking torque and practical braking requirement, and energy feedback is carried out according to the practical braking torque.Embodiment of the disclosure is primarily adapted for use in the scene that vehicle carries out energy feedback.
Description
Technical field
Embodiment of the disclosure is related to automobile technical field, more particularly to the control method and dress of a kind of energy feedback
It sets.
Background technology
Energy feedback refers to being converted the kinetic energy into electrical energy while motor is braked in storage to battery.This mode energy
Energy consumption of vehicles is enough reduced, therefore is applied more and more extensive.
Currently, the control method of energy feedback includes mainly：(1) according to the characteristic of motor, a fixed feedback is given
Power carries out energy feedback；(2) it gives a fixed braking torque and carries out energy feedback.However, if given one fixed
Feedback power, then braking torque is big when braking torque is than high speed when being likely to appear in low speed, and braking deceleration is caused to increase, and drives
Sailing property reduces；If giving a constant braking torque, under different driving cycles, also results in different braking and subtract
Speed reduces driving, or even causes safety problem.Therefore, when how to carry out energy feedback under different operating modes so that slow down
It is more steady, it is a great problem faced at present.
Invention content
Embodiment of the disclosure mainly provides the following technical solutions：
In a first aspect, embodiment of the disclosure provides a kind of control method of energy feedback, the method includes：
After vehicle enters energy feedback pattern, cycle executes following steps, until current vehicle speed is unsatisfactory for the energy
The energy feedback pattern is exited when feedback pattern：
According to current vehicle speed, target vehicle speed is set；
It calculates from current vehicle speed braking to the braking torque needed for the target vehicle speed；
Practical braking torque is determined based on calculated braking torque and practical braking requirement, and according to the practical braking
Torque carries out energy feedback.
In some embodiments, target vehicle speed is arranged according to current vehicle speed includes：
The corresponding target vehicle speed of the current vehicle speed is searched from pre-set map tables.
In some embodiments, practical braking torque packet is determined based on calculated braking torque and practical braking requirement
It includes：
When feedback grade is not arranged, and when brake pedal is not operated, using the calculated braking torque as described in
Practical braking torque.
In some embodiments, practical braking torque packet is determined based on calculated braking torque and practical braking requirement
It includes：
When being provided with feedback grade, and when brake pedal is not operated, by the calculated braking torque and described time
The product for presenting the feedback proportionality coefficient corresponding to grade is used as the practical braking torque.
In some embodiments, practical braking torque packet is determined based on calculated braking torque and practical braking requirement
It includes：
When feedback grade is not arranged, and when brake pedal is operated, by the calculated braking torque and pedal aperture
The product of corresponding restraint coefficient is used as the practical braking torque.
In some embodiments, practical braking torque packet is determined based on calculated braking torque and practical braking requirement
It includes：
When being provided with feedback grade, and when brake pedal is operated, by the calculated braking torque and the feedback
The product of the restraint coefficient corresponding to feedback proportionality coefficient, pedal aperture corresponding to grade is used as the practical braking torque.
In some embodiments, the feedback proportionality coefficient and the feedback grade correlation, and the feedback
Proportionality coefficient includes 1；
And/or the restraint coefficient and the pedal aperture correlation, and the restraint coefficient is more than 1.
In some embodiments, carrying out energy feedback according to the practical braking torque includes：
The braking torque corresponding to maximum charge power, the motor for taking the practical braking torque, battery currently available are permitted
Perhaps the least absolute value in maximum braking torque；
Energy feedback is carried out according to the least absolute value.
In some embodiments, it calculates from current vehicle speed braking to the braking torque packet needed for the target vehicle speed
It includes：
According to current vehicle speed, P values and I values are set；
It is adjusted, is calculated from current vehicle speed braking to the braking torque needed for the target vehicle speed according to PI.
Second aspect, embodiment of the disclosure provide a kind of control device of energy feedback, and described device includes control
Unit, setting unit, computing unit, determination unit and energy feedback unit；
Described control unit, for working as after vehicle enters energy feedback pattern, setting unit described in recursive call, the meter
It calculates unit, the determination unit and the energy feedback unit and executes corresponding steps, until current vehicle speed is unsatisfactory for the energy
The energy feedback pattern is exited when feedback pattern；Wherein,
The setting unit, for target vehicle speed to be arranged according to current vehicle speed；
The computing unit, for calculating from current vehicle speed braking to the braking torque needed for the target vehicle speed；
The determination unit, for determining practical braking torque based on calculated braking torque and practical braking requirement；
The energy feedback unit, for carrying out energy feedback according to the practical braking torque.
In some embodiments, the setting unit, for searching the current vehicle speed pair from pre-set map tables
The target vehicle speed answered.
The third aspect, embodiment of the disclosure provide a kind of storage medium, and the storage medium includes the program of storage,
Wherein, equipment where the storage medium being controlled when described program is run executes the control of energy feedback as described in relation to the first aspect
Method processed.
Fourth aspect, embodiment of the disclosure provide a kind of control device of energy feedback, and described device includes storage
Medium；And one or more processor, the storage medium are coupled with the processor, the processor is configured as executing
The program instruction stored in the storage medium；Energy feedback as described in relation to the first aspect is executed when described program instruction operation
Control method.
Above description is only the general introduction of embodiment of the disclosure technical solution, in order to better understand the reality of the disclosure
Apply the technological means of example, and can be implemented in accordance with the contents of the specification, and in order to allow the above-mentioned of embodiment of the disclosure and
Other objects, features and advantages can be clearer and more comprehensible, below the special specific implementation mode for lifting embodiment of the disclosure.
Description of the drawings
By reading the detailed description of hereafter preferred embodiment, various other advantages and benefit are common for this field
Technical staff will become clear.Attached drawing only for the purpose of illustrating preferred embodiments, and is not considered as to the disclosure
Embodiment limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Fig. 1 shows a kind of flow chart of the control method for energy feedback that embodiment of the disclosure provides；
Fig. 2 shows the flow charts of the control method of another energy feedback of embodiment of the disclosure offer；
Fig. 3 shows a kind of composition frame chart of the control device for energy feedback that embodiment of the disclosure provides；
Fig. 4 shows the composition frame chart of the control device for another energy feedback that embodiment of the disclosure provides.
Specific implementation mode
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
In a first aspect, embodiment of the disclosure provides a kind of control method of energy feedback, as shown in Figure 1, the side
Method includes mainly：
101, after vehicle enters energy feedback pattern, target vehicle speed is arranged according to current vehicle speed.
When detecting that accelerator pedal is not operated, and meet speed allows charging, motor without barrier higher than predetermined threshold value, battery
When the necessary conditions such as hindering, vehicle enters energy feedback pattern.
In order to enable during energy feedback, the deceleration of vehicle is more steady, and embodiment of the disclosure is using incremental
Mode carry out feedback, i.e., feedback is carried out by way of gradual reduction of speed.Specifically, after vehicle enters energy feedback pattern,
Current vehicle speed is detected, a reduction of speed target is then arranged according to current vehicle speed so that speed declines to target vehicle speed, then base again
Next target vehicle speed is arranged in speed after decline again, and declines to next target vehicle speed, until dropping to and can exit
Until energy feedback pattern.
Wherein, the corresponding target vehicle speed of current vehicle speed is by obtained by many experiments, enabling to current vehicle speed to mesh
The smoothness for marking the moderating process of speed meets preset requirement.
102, it calculates from current vehicle speed braking to the braking torque needed for the target vehicle speed.
, can be by way of PI adjustings after based on current vehicle speed, target vehicle speed is set, calculating is reduced to from current vehicle speed
Braking torque needed for target vehicle speed is slowed down, energy feedback to be based on the braking torque.
103, practical braking torque is determined based on calculated braking torque and practical braking requirement, and according to the reality
Braking torque carries out energy feedback.
Since in practical applications, some vehicles may be provided with driver to the regulatory function of energy feedback size, drive
The person of sailing is also possible to meeting brake pedal and accelerates braking, so calculating a braking according to current vehicle speed and target vehicle speed
After torque, it is also necessary to determine actually required braking torque according to actual braking requirement, energy feedback could be carried out.
104, judge whether current vehicle speed meets the energy feedback pattern；If satisfied, then continuing to execute step 101 to step
Rapid 103；If not satisfied, thening follow the steps 105.
When practical braking torque is equal to calculated braking torque in step 102, since there are one for actual energy feedback
Determine error, so target vehicle speed may be not equal to by carrying out the speed obtained after energy feedback, but in certain error range.When
When practical braking torque is not equal to calculated braking torque in step 102, the speed after energy feedback is carried out also not necessarily etc.
In target vehicle speed.
But regardless of whether needing to judge whether current vehicle speed also meets energy after carrying out energy feedback equal to target vehicle speed
Measure feedback pattern；If satisfied, can then continue to execute step 101-103 carries out energy feedback next time；If not satisfied, then can be with
Energy feedback pattern is exited, that is, executes step 105.
105, the energy feedback pattern is exited.
Embodiment of the disclosure provide energy feedback control method, can after vehicle enters energy feedback pattern,
Target vehicle speed corresponding to current vehicle speed is set, and is determined in fact according to the calculated braking torque of two speeds and practical braking requirement
Border braking torque carries out energy feedback, when the speed after energy feedback meets energy feedback pattern, continues that energy feedback is arranged
The target vehicle speed corresponding to speed afterwards, to carry out energy feedback next time, until current vehicle speed is unsatisfactory for energy feedback mould
Until exiting energy feedback pattern when formula.It follows that embodiment of the disclosure is to carry out energy by way of gradual reduction of speed
Feedback, this mode is not only applicable to various operating modes, and for fixed feedback power and constant braking torque,
Slowing effect is more steady.
Second aspect, according to the method described in first aspect, another embodiment of the disclosure additionally provides a kind of energy
The control method of feedback, as shown in Fig. 2, the method includes mainly：
201, after vehicle enters energy feedback pattern, the corresponding mesh of current vehicle speed is searched from pre-set map tables
Mark speed.
In order to enable during energy feedback, slow down more steady, developer can rule of thumb with experimental setup one
A map tables for including current vehicle speed and target vehicle speed mapping relations so that slowing down can be obtained each time by inquiring the map tables
To deceleration target.Before vehicle release, the target vehicle speed in the map tables can be one can calibration value, by constantly test come
Change this can calibration value, until the smoothness of deceleration reaches preset requirement.
202, it calculates from current vehicle speed braking to the braking torque needed for the target vehicle speed.
When adjusting algorithm calculating braking torque by PI, when P values and improper I values, PI controls are may result in
Overshoot is excessive or the response time is longer, and obtained braking torque is asked it is possible that unexpected variation in order to solve the technology
Topic first can be arranged P values and I values according to current vehicle speed, be adjusted further according to PI, calculate from current vehicle speed braking to the mesh
Mark the braking torque needed for speed.
Wherein, the formula of PI adjustings is：T=kp×Δv+∑(ki×Δv×t)
Wherein, T is braking torque, kpFor P values, Δ v is the difference of current vehicle speed and target vehicle speed, kiFor I values, t is the time
(a corresponding calculating cycle).
203, practical braking torque is determined based on calculated braking torque and practical braking requirement, and according to the reality
Braking torque carries out energy feedback.
Specifically, feedback grade ought not be arranged, and when brake pedal is not operated, the calculated braking torque is made
For the practical braking torque；When being provided with feedback grade, and when brake pedal is not operated, the calculated braking is turned round
The product of square and the feedback proportionality coefficient corresponding to the feedback grade is used as the practical braking torque；When feedback etc. is not arranged
Grade, the and when brake pedal is operated, by the restraint coefficient corresponding to the calculated braking torque and pedal aperture it
Product is used as the practical braking torque；It, will be described calculated when being provided with feedback grade, and when the brake pedal is operated
The product of braking torque and the feedback proportionality coefficient, the restraint coefficient is used as the practical braking torque.
Wherein, the feedback proportionality coefficient and the feedback grade correlation, and the feedback proportionality coefficient packet
Include 1.If feedback grade is broadly divided into inferior grade, middle grade and high-grade, then the feedback proportionality coefficient corresponding to inferior grade is small
In 1, the feedback proportionality coefficient corresponding to middle grade is equal to 1, and high-grade corresponding feedback proportionality coefficient is more than 1.Pedal aperture
It is the degree of driver's brake pedal, under normal circumstances, pedal aperture is bigger, and restraint coefficient is bigger, i.e., the described braking system
Number and the pedal aperture correlation, and the restraint coefficient is more than 1.
In addition, overcharging phenomenon in order to prevent, after obtaining practical braking torque, the practical braking torque, electricity can be taken
Minimum in the maximum braking torque that braking torque, motor corresponding to the currently available maximum charge power in pond allow is absolutely
Value, and energy feedback is carried out according to the least absolute value.
204, judge whether current vehicle speed meets the energy feedback pattern；If satisfied, then continuing to execute step 201 to step
Rapid 203；If not satisfied, thening follow the steps 205.
205, the energy feedback pattern is exited.
Embodiment of the disclosure provide energy feedback control method, can after vehicle enters energy feedback pattern,
Target vehicle speed corresponding to current vehicle speed is quickly set by way of inquiring map tables, and according to the calculated braking of two speeds
Torque and practical braking requirement determine that practical braking torque carries out energy feedback, and speed after energy feedback meets energy feedback
When pattern, continue the target vehicle speed corresponding to the speed after setting energy feedback, to carry out energy feedback next time, until working as
Until preceding speed is unsatisfactory for exiting energy feedback pattern when energy feedback pattern.It follows that embodiment of the disclosure is to pass through
The mode of gradual reduction of speed carries out energy feedback, and this mode is not only applicable to various operating modes, and relative to fixed feedback work(
For rate and constant braking torque, and slowing effect is more steady.In addition, overcharging phenomenon in order to prevent, do not use directly practical
Braking torque carries out energy feedback, but considers the braking torque and motor corresponding to the currently available maximum charge power of battery
The maximum braking torque of permission, and absolute value reckling in three is taken to carry out energy feedback.
The third aspect, according to above method embodiment, another embodiment of the disclosure additionally provides a kind of energy feedback
Control device, as shown in figure 3, described device includes control unit 31, setting unit 32, computing unit 33, determination unit 34
With energy feedback unit 35；
Described control unit 31, for working as after vehicle enters energy feedback pattern, setting unit 32, institute described in recursive call
It states computing unit 33, the determination unit 34 and the energy feedback unit 35 and executes corresponding steps, until current vehicle speed is discontented
The energy feedback pattern is exited when the foot energy feedback pattern；Wherein,
The setting unit 32, for target vehicle speed to be arranged according to current vehicle speed；
The computing unit 33 is turned round for calculating from current vehicle speed braking to the braking needed for the target vehicle speed
Square；
The determination unit 34, for determining that practical braking is turned round based on calculated braking torque and practical braking requirement
Square；
The energy feedback unit 35, for carrying out energy feedback according to the practical braking torque.
In some embodiments, the setting unit 32, for searching the current vehicle speed from pre-set map tables
Corresponding target vehicle speed.
In some embodiments, as shown in figure 4, the determination unit 34 includes any one of following or multinomial combination：The
One determining module 341, the second determining module 342, third determining module 343 and the 4th determining module 344；Wherein,
First determining module 341, for feedback grade ought not to be arranged, and when brake pedal is not operated, by the calculating
The braking torque gone out is as the practical braking torque；
Second determining module 342, for when being provided with feedback grade, and when brake pedal is not operated, by the calculating
The product of the braking torque gone out and the feedback proportionality coefficient corresponding to the feedback grade is used as the practical braking torque；
Third determining module 343, for feedback grade ought not to be arranged, and when the brake pedal is operated, by the meter
The braking torque of calculating and the product of the restraint coefficient corresponding to pedal aperture are used as the practical braking torque；
4th determining module 344, for when being provided with feedback grade, and when the brake pedal is operated, by the meter
The braking torque of calculating and the product of the feedback proportionality coefficient, the restraint coefficient are used as the practical braking torque.
In some embodiments, the feedback proportionality coefficient and the feedback grade correlation, and the feedback
Proportionality coefficient includes 1；
And/or the restraint coefficient and the pedal aperture correlation, and the restraint coefficient is more than 1.
In some embodiments, the energy feedback unit 35, for taking the practical braking torque, battery currently available
Maximum charge power corresponding to braking torque, motor allow maximum braking torque in least absolute value；According to described
Least absolute value carries out energy feedback.
In some embodiments, as shown in figure 4, the computing unit 33 includes：
Setup module 331, for P values and I values to be arranged according to current vehicle speed；
Computing module 332 is calculated and is braked from the current vehicle speed to needed for the target vehicle speed for being adjusted according to PI
Braking torque.
Described device includes pocessor and storage media, above-mentioned control unit 31, setting unit 32, computing unit 33, really
Order member 34 and energy feedback unit 35 etc. are stored in a storage medium as program unit, are stored in and are deposited by processor execution
Above procedure unit in storage media realizes corresponding function.
Include kernel in above-mentioned processor, is gone in storage medium to transfer corresponding program unit by kernel.Kernel can be set
One or more is set, when by adjusting kernel parameter so that carrying out energy feedback under different operating modes, is slowed down more steady.
Embodiment of the disclosure provide energy feedback control device, can after vehicle enters energy feedback pattern,
Target vehicle speed corresponding to current vehicle speed is set, and is determined in fact according to the calculated braking torque of two speeds and practical braking requirement
Border braking torque carries out energy feedback, when the speed after energy feedback meets energy feedback pattern, continues that energy feedback is arranged
The target vehicle speed corresponding to speed afterwards, to carry out energy feedback next time, until current vehicle speed is unsatisfactory for energy feedback mould
Until exiting energy feedback pattern when formula.It follows that embodiment of the disclosure is to carry out energy by way of gradual reduction of speed
Feedback, this mode is not only applicable to various operating modes, and for fixed feedback power and constant braking torque, and
Slowing effect is more steady.
The control device for the energy feedback that the embodiment of the third aspect provides, can be executing first aspect or second party
The control method for the energy feedback that the embodiment in face is provided, the relevant meaning being used for and specific embodiment can join
See the associated description in the embodiment of first aspect or second aspect, is no longer described in detail herein.
Fourth aspect, embodiment of the disclosure provide a kind of storage medium, and the storage medium includes the program of storage,
Wherein, equipment where the storage medium being controlled when described program is run executes the controlling party of energy feedback as described above
Method.
Storage medium may include the volatile memory in computer-readable medium, random access memory (RAM)
And/or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM), memory includes at least one
Storage chip.
The program stored in the storage medium that embodiment of the disclosure provides, can enter energy feedback pattern when vehicle
Afterwards, the target vehicle speed corresponding to current vehicle speed is set, and true according to the calculated braking torque of two speeds and practical braking requirement
Fixed practical braking torque carries out energy feedback, when the speed after energy feedback meets energy feedback pattern, continues that energy is arranged
The target vehicle speed corresponding to speed after feedback, to carry out energy feedback next time, until current vehicle speed is unsatisfactory for energy and returns
Until exiting energy feedback pattern when feedback pattern.It follows that embodiment of the disclosure is carried out by way of gradual reduction of speed
Energy feedback, this mode is not only applicable to various operating modes, and relative to fixed feedback power and constant braking torque and
Speech, and slowing effect is more steady.
5th aspect, embodiment of the disclosure provide a kind of control device of energy feedback, and described device includes storage
Medium；And one or more processor, the storage medium are coupled with the processor, the processor is configured as executing
The program instruction stored in the storage medium；The controlling party of energy feedback as described above is executed when described program instruction operation
Method.
Embodiment of the disclosure provide energy feedback control device, can after vehicle enters energy feedback pattern,
Target vehicle speed corresponding to current vehicle speed is set, and is determined in fact according to the calculated braking torque of two speeds and practical braking requirement
Border braking torque carries out energy feedback, when the speed after energy feedback meets energy feedback pattern, continues that energy feedback is arranged
The target vehicle speed corresponding to speed afterwards, to carry out energy feedback next time, until current vehicle speed is unsatisfactory for energy feedback mould
Until exiting energy feedback pattern when formula.It follows that embodiment of the disclosure is to carry out energy by way of gradual reduction of speed
Feedback, this mode is not only applicable to various operating modes, and for fixed feedback power and constant braking torque, and
Slowing effect is more steady.
Embodiment of the disclosure additionally provides a kind of computer program product, when being executed on the control device in energy feedback
When, it is adapted for carrying out the program code of initialization there are as below methods step：
After vehicle enters energy feedback pattern, cycle executes following steps, until current vehicle speed is unsatisfactory for the energy
The energy feedback pattern is exited when feedback pattern：
According to current vehicle speed, target vehicle speed is set；
It calculates from current vehicle speed braking to the braking torque needed for the target vehicle speed；
Practical braking torque is determined based on calculated braking torque and practical braking requirement, and according to the practical braking
Torque carries out energy feedback.
It should be understood by those skilled in the art that, embodiment of the disclosure can be provided as method, system or computer program
Product.Therefore, embodiment of the disclosure can be used complete hardware embodiment, complete software embodiment or combine software and hardware
The form of the embodiment of aspect.Moreover, it wherein includes that computer is available that embodiment of the disclosure, which can be used in one or more,
It is real in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code
The form for the computer program product applied.
The application is the flow chart of the method for reference embodiment of the disclosure, equipment (system) and computer program product
And/or block diagram describes.It should be understood that each flow in flowchart and/or the block diagram can be realized by computer program instructions
And/or the combination of the flow and/or box in box and flowchart and/or the block diagram.These computer programs can be provided to refer to
Enable the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to generate
One machine so that by the instruction that computer or the processor of other programmable data processing devices execute generate for realizing
The device for the function of being specified in one flow of flow chart or multiple flows and/or one box of block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
In a typical configuration, computing device includes one or more processors (CPU), input/output interface, net
Network interface and memory.
Memory may include computer-readable medium in volatile memory, random access memory (RAM) and/
Or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable Jie
The example of matter.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology realizes information storage.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic tape cassette, tape magnetic disk storage or other magnetic storage apparatus
Or any other non-transmission medium, it can be used for storage and can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as data-signal and carrier wave of modulation.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
Including so that process, method, commodity or equipment including a series of elements include not only those elements, but also wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including element
There is also other identical elements in process, method, commodity or equipment.
It will be understood by those skilled in the art that embodiment of the disclosure can be provided as method, system or computer program product.
Therefore, complete hardware embodiment, complete software embodiment or combining software and hardware aspects can be used in embodiment of the disclosure
The form of embodiment.Moreover, it wherein includes computer available programs generation that embodiment of the disclosure, which can be used in one or more,
The meter implemented in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of code
The form of calculation machine program product.
It these are only embodiments herein, be not intended to limit this application.To those skilled in the art,
The application can have various modifications and variations.It is all within spirit herein and principle made by any modification, equivalent replacement,
Improve etc., it should be included within the scope of claims hereof.
Claims (13)
1. a kind of control method of energy feedback, which is characterized in that the method includes：
After vehicle enters energy feedback pattern, cycle executes following steps, until current vehicle speed is unsatisfactory for the energy feedback
The energy feedback pattern is exited when pattern：
According to current vehicle speed, target vehicle speed is set；
It calculates from current vehicle speed braking to the braking torque needed for the target vehicle speed；
Practical braking torque is determined based on calculated braking torque and practical braking requirement, and according to the practical braking torque
Carry out energy feedback.
2. according to the method described in claim 1, it is characterized in that, including according to current vehicle speed setting target vehicle speed：
The corresponding target vehicle speed of the current vehicle speed is searched from pre-set map tables.
3. according to the method described in claim 1, it is characterized in that, true based on calculated braking torque and practical braking requirement
Determining practical braking torque includes：
When feedback grade is not arranged, and when brake pedal is not operated, using the calculated braking torque as the reality
Braking torque.
4. according to the method described in claim 1, it is characterized in that, true based on calculated braking torque and practical braking requirement
Determining practical braking torque includes：
When being provided with feedback grade, and when brake pedal is not operated, by the calculated braking torque and the feedback etc.
The product of feedback proportionality coefficient corresponding to grade is used as the practical braking torque.
5. according to the method described in claim 1, it is characterized in that, true based on calculated braking torque and practical braking requirement
Determining practical braking torque includes：
It is when feedback grade is not arranged, and when brake pedal is operated, the calculated braking torque and pedal aperture institute is right
The product for the restraint coefficient answered is used as the practical braking torque.
6. according to the method described in claim 1, it is characterized in that, true based on calculated braking torque and practical braking requirement
Determining practical braking torque includes：
When being provided with feedback grade, and when brake pedal is operated, by the calculated braking torque and the feedback grade
The product of restraint coefficient corresponding to corresponding feedback proportionality coefficient, pedal aperture is used as the practical braking torque.
7. according to the method described in claim 6, it is characterized in that, the feedback proportionality coefficient and the feedback grade are in positive
Pass relationship, and the feedback proportionality coefficient includes 1；
And/or the restraint coefficient and the pedal aperture correlation, and the restraint coefficient is more than 1.
8. according to the method described in claim 1, it is characterized in that, carrying out energy feedback packet according to the practical braking torque
It includes：
The braking torque corresponding to maximum charge power, the motor for taking the practical braking torque, battery currently available allow
Least absolute value in maximum braking torque；
Energy feedback is carried out according to the least absolute value.
9. according to any one of claim 1-8 the methods, which is characterized in that calculate and braked from the current vehicle speed to described
Braking torque needed for target vehicle speed includes：
According to current vehicle speed, P values and I values are set；
It is adjusted, is calculated from current vehicle speed braking to the braking torque needed for the target vehicle speed according to PI.
10. a kind of control device of energy feedback, which is characterized in that described device includes control unit, setting unit, calculates list
Member, determination unit and energy feedback unit；
Described control unit, for working as after vehicle enters energy feedback pattern, setting unit described in recursive call, the calculating are single
First, the described determination unit and the energy feedback unit execute corresponding steps, until current vehicle speed is unsatisfactory for the energy feedback
The energy feedback pattern is exited when pattern；
The setting unit, for target vehicle speed to be arranged according to current vehicle speed；
The computing unit, for calculating from current vehicle speed braking to the braking torque needed for the target vehicle speed；
The determination unit, for determining practical braking torque based on calculated braking torque and practical braking requirement；
The energy feedback unit, for carrying out energy feedback according to the practical braking torque.
11. device according to claim 10, which is characterized in that the setting unit is used for from pre-set map tables
It is middle to search the corresponding target vehicle speed of the current vehicle speed.
12. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein run in described program
When control the storage medium where equipment perform claim require the control method of the energy feedback described in any one of 1 to 9.
13. a kind of control device of energy feedback, which is characterized in that described device includes storage medium；And one or more
Processor, the storage medium are coupled with the processor, and the processor is configured as executing and be stored in the storage medium
Program instruction；Perform claim requires the controlling party of the energy feedback described in any one of 1 to 9 when described program instruction operation
Method.
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